16,952 research outputs found
Evolution of Neural Networks for Helicopter Control: Why Modularity Matters
The problem of the automatic development of controllers for vehicles for which the exact characteristics are not known is considered in the context of miniature helicopter flocking. A methodology is proposed in which neural network based controllers are evolved in a simulation using a dynamic model qualitatively similar to the physical helicopter. Several network architectures and evolutionary sequences are investigated, and two approaches are found that can evolve very competitive controllers. The division of the neural network into modules and of the task into incremental steps seems to be a precondition for success, and we analyse why this might be so
PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles
There exists an increasing demand for a flexible and computationally
efficient controller for micro aerial vehicles (MAVs) due to a high degree of
environmental perturbations. In this work, an evolving neuro-fuzzy controller,
namely Parsimonious Controller (PAC) is proposed. It features fewer network
parameters than conventional approaches due to the absence of rule premise
parameters. PAC is built upon a recently developed evolving neuro-fuzzy system
known as parsimonious learning machine (PALM) and adopts new rule growing and
pruning modules derived from the approximation of bias and variance. These rule
adaptation methods have no reliance on user-defined thresholds, thereby
increasing the PAC's autonomy for real-time deployment. PAC adapts the
consequent parameters with the sliding mode control (SMC) theory in the
single-pass fashion. The boundedness and convergence of the closed-loop control
system's tracking error and the controller's consequent parameters are
confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's
efficacy is evaluated by observing various trajectory tracking performance from
a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing
micro aerial vehicle called hexacopter. Furthermore, it is compared to three
distinctive controllers. Our PAC outperforms the linear PID controller and
feed-forward neural network (FFNN) based nonlinear adaptive controller.
Compared to its predecessor, G-controller, the tracking accuracy is comparable,
but the PAC incurs significantly fewer parameters to attain similar or better
performance than the G-controller.Comment: This paper has been accepted for publication in Information Science
Journal 201
High-Resolution Road Vehicle Collision Prediction for the City of Montreal
Road accidents are an important issue of our modern societies, responsible
for millions of deaths and injuries every year in the world. In Quebec only, in
2018, road accidents are responsible for 359 deaths and 33 thousands of
injuries. In this paper, we show how one can leverage open datasets of a city
like Montreal, Canada, to create high-resolution accident prediction models,
using big data analytics. Compared to other studies in road accident
prediction, we have a much higher prediction resolution, i.e., our models
predict the occurrence of an accident within an hour, on road segments defined
by intersections. Such models could be used in the context of road accident
prevention, but also to identify key factors that can lead to a road accident,
and consequently, help elaborate new policies.
We tested various machine learning methods to deal with the severe class
imbalance inherent to accident prediction problems. In particular, we
implemented the Balanced Random Forest algorithm, a variant of the Random
Forest machine learning algorithm in Apache Spark. Interestingly, we found that
in our case, Balanced Random Forest does not perform significantly better than
Random Forest.
Experimental results show that 85% of road vehicle collisions are detected by
our model with a false positive rate of 13%. The examples identified as
positive are likely to correspond to high-risk situations. In addition, we
identify the most important predictors of vehicle collisions for the area of
Montreal: the count of accidents on the same road segment during previous
years, the temperature, the day of the year, the hour and the visibility
- …